Self-moving robot and walking method thereof

ABSTRACT

A self-moving robot comprises a robot body (1). A control device is provided in the robot body (1), and a functional processing module (11) and a moving module (12) connected to each other are provided in the robot body (1). The moving module (12) is controlled by the control device to drive the functional processing module (11) to conduct mobile processing work in a working space (100). An opening hole (111) is formed inside the functional processing module (11) so that the moving module (12) is arranged rotatably in the opening hole (111) in an embedded manner. The moving module (12) can freely rotates relative to the functional processing module (11) through a connection mechanism. A walking method of the self-moving robot is further disclosed. The present invention is of simple structure, low cost and significantly improved moving mode, and the cleaning efficiency of the self-moving robot is improved with the same amount of time or power.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is an U.S. national stage of PCT/CN2013/081086, filedon Aug. 8, 2013, which claims priority, to Chinese Patent ApplicationNo. 201210279763.5, filed on Aug. 8, 2012, the contents of which areeach incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates to a self-moving robot and the walkingmethod thereof and belongs to the technical field of small householdappliances manufacture.

BACKGROUND OF THE PRIOR ART

The current moving modes of various self-moving robots are more or lesscomplicated. Taking a glass-wiping robot for example, when running intoan obstacle, the glass-wiping robot could move along a required path byrepeatedly adjusting its moving direction. Such a process for repeatedlyadjusting movement path needs a large amount of adjusting time and thecooperation of an induction mechanism, a control mechanism and a movingmechanism of the robot, which costs lots of energy while taking up lotsof work time. Thus, the cleaning efficiency of the robot is greatlyreduced.

SUMMARY OF THE INVENTION

In view of the above technical problems in the prior art, the presentinvention intends to provide a self-moving robot with simple structure,low cost, high sensitivity, strong controllability and significantlyimproved moving mode. Accordingly, the cleaning efficiency of theself-moving robot is improved with the same amount of time or power.

The technical problems of the present invention are solved throughtechnical solutions as follows.

A self-moving robot comprises a robot body, a control device is providedin the robot body, a functional processing module and a moving moduleconnected to each other are provided on the robot body, the movingmodule is controlled by the control device to drive the functionalprocessing module to conduct mobile processing work in a working space,an opening hole is formed inside the functional processing module sothat the moving module is arranged rotatably in the opening hole in anembedded manner, and the moving module can freely rotates relative tothe functional processing module through a connection mechanism.

The connection mechanism provided in the first embodiment of the presentinvention is a coupling unit comprising a first coupling end provided atthe edge of the moving module and a second coupling end provided at theedge of the functional processing module. Each of the first coupling endand second coupling end includes upper and lower coupling joints,wherein a stopping part is provided perpendicularly to the couplingdirection at the terminal of the lower coupling joint of the firstcoupling end, the upper coupling joint of the second coupling end isprovided with a stopping groove correspondingly and the stopping part ispositioned in the stopping groove in an embedded manner.

In order to enable the moving module to rotate more flexibly relative tothe functional processing module, a ball is provided at the centralsection of the upper coupling joint of the second coupling end, whereinthe upper and lower end surfaces of the ball protrude from the upper andlower end surfaces of the upper coupling joint of the second couplingend and are brought into contact with the lower surface of the uppercoupling joint and the upper surface of the lower coupling joint of thefirst coupling end.

Another embodiment of the present invention further provides aconnection mechanism which is a roller bearing mechanism providedbetween the outer edge of the moving module and the inner edge of theopening hole of the functional processing module.

Specifically, the roller bearing mechanism includes an inner ringprovided at the outer edge of the moving module, an outer ring providedat the inner edge of the opening hole of the functional processingmodule and balls between the inner and outer rings.

As required, the moving module is provided with a walking mechanism, andthe walking mechanism is driving wheel(s) and corresponding track(s)arranged on the robot body.

The self-moving robot may comprise a variety of functional modules, anddifferent functional modules implement different works. The functionalprocessing module is a glass surface cleaning module, a floor-sweepingmodule, an air purification module or a humidification module.

In order to facilitate the adsorption of the self-moving robot onto aworking surface, a suction device is provided on the moving module,wherein the suction device comprises a suction cup, a gas-guide tube anda vacuum pump, and the vacuum pump is controlled by the control deviceto communicate with the suction cup through the gas-guide tube and tovacuumize the suction cup to form negative pressure so as to enable theself-moving robot to adhere to a surface to be treated.

To facilitate free rotating of the moving module relative to thefunctional processing module, the opening hole is a circular openinghole, and the periphery of the functional processing module is ofsquare.

The invention further provides a walking method of the above-mentionedself-moving robot, the method comprising:

step 1: the functional processing module of the self-moving robot isdriven by the moving module to move so as to walk in a working space;

step 2: if the self-moving robot detects that there is an obstacle infront of the movement, the self-moving robot continues to walk after themoving module turns a certain angle relative to the functionalprocessing module.

In the step 2, the certain angle is 90 degree.

In conclusion, the self-moving robot according to the present inventionis of simple structure, low cost, high sensitivity, strongcontrollability and significantly improved moving mode. The cleaningefficiency of the self-moving robot is improved with the same amount oftime or power.

Hereinafter the technical solution of the present invention will bedescribed in detail in combination with the drawings and some specificembodiments.

DESCRIPTION OF ATTACHED DRAWINGS

FIG. 1 is a schematic diagram of the overall structure of the firstembodiment of the present invention;

FIG. 2 is a schematic diagram of moving positions of the firstembodiment of the present invention;

FIGS. 3 and 4 are a sectional view and a partial enlarged view of a ballmechanism of the second embodiment of the present inventionrespectively; and

FIGS. 5 and 6 are a sectional view and a partial enlarged view of aroller bearing mechanism of the third embodiment of the presentinvention respectively.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS The First Embodiment

FIG. 1 is a schematic diagram of the overall structure of the firstembodiment of the present invention. As shown in FIG. 1, the self-movingrobot according to the present embodiment is a glass-wiping robotcomprising a robot body 1. A control device is provided in the robotbody 1, and a functional processing module 11 and a moving module 12connected to each other are provided in the robot body 1. The movingmodule 12 is controlled by the control device to drive the functionalprocessing module 11 to conduct mobile processing work in a workingspace. An opening hole 111 is formed inside the functional processingmodule 11, and the moving module 12 is arranged rotatably in the openinghole 111 in an embedded manner and rotatably attached to the functionalprocessing module 11 through a connection mechanism. The functionalprocessing module 11 is a glass surface cleaning module.

Furthermore, in the present embodiment, a first coupling end provided atthe edge of the moving module 12 and a second coupling end provided atthe edge of the functional processing module 11 are included and one ofthem is inserted into the other for mutual positioning. Specifically,the inner edge of the opening hole 111 of the functional processingmodule 11 is directly embedded into a recess at the outer edge of themoving module 12, or an outer flange of the moving module is directlyinserted into a recess at the inner edge of the opening hole 111 of thefunctional processing module 11.

As required, the opening hole 111 may be a circular opening hole, andthe periphery of the functional processing module 11 is of square. Thatis to say, the shape of the moving module 12 provided inside of theopening hole 11 is circular, while the shape of the functionalprocessing module 11 outside is square. Such a structure with circularinterior and square exterior is a preferable combination manner inshapes of the moving module 12 and the functional processing module 11,which is conducive to spot-turning and walking of the robot. Assumingthe external functional processing module 11 is also circular, thoughthe robot can still execute a spot-turning, due to the motion inertia ofthe circular functional processing module 11 and the moving module 12which is also circular, such execution is more difficult than that withthe structure of the present embodiment. In fact, when the robot needsto turn in a corner position, especially under the effect of resistanceof obstacles, the square shape of the functional processing module 11has appropriate functions in position-limiting and guiding during thespot-turning action of the robot.

FIG. 2 is a schematic diagram of walking positions of the firstembodiment of the present invention. As shown in FIG. 2, in the presentembodiment, the self-moving robot is a glass-wiping robot, and thefunctional processing module of the self-moving robot is a glass surfacecleaning module 11′. A walking method of the glass-wiping robot includesthe following steps: step 1: the glass surface cleaning module 11′ ofthe glass-wiping robot is driven by the moving module 12 to move so asto walk on a glass surface 100, and conduct cleaning work on the glasssurface 100 at the same time; step 2: if the glass-wiping robot detectsthat there is an obstacle in the front of the movement, the self-movingrobot continues to walk and continuously conduct the cleaning work onthe glass surface after the moving module 12 turns 90 degree relative tothe glass surface cleaning module 11′.

Referring to FIG. 1, in order to facilitate the walking of theglass-wiping robot, the moving module 12 is provided with a walkingmechanism 121, and the walking mechanism 121 is driving wheel(s) andcorresponding track(s) provided on the robot body 1. In addition, inorder to enable the glass-wiping robot to adhere to the glass surfacewhile working, the moving module 12 is provided with a suction devicecomprising a suction cup 116, a gas-guide tube 117 and a vacuum pump118. Under the control of the control device, the vacuum pump 118communicate with the suction cup 116 through the gas-guide tube 117 andvacuumize the suction cup 116 to form negative pressure so as to enablethe glass-wiping robot to adhere to the glass surface during thecleaning work.

In the present embodiment, since the moving module 12 is circular andthe inner side of the glass surface cleaning module 11′ has a circularhole, the glass surface cleaning module 11′ can freely rotates aroundthe moving module 12. In other words, the moving module 12 can freelyrotates inside the glass surface cleaning module 11′. When in use,firstly, the robot is vertically pressed against a window; and then therobot is adhered to the glass surface of the window after the vacuumpump 118 is communicated; and then the robot with the cleaning module isdriven by the walking mechanism 121 to walk forward and thus achievewindow cleaning effect. There is a rotational degree of freedom betweenthe glass surface cleaning module 11′ and the moving module 12. Thus,when the glass-wiping robot moves to a corner and turns (arrows indicatewalking directions of the robot as shown in FIG. 2), the moving module12 itself can directly turn an angle of 90 degree, by which the walkingmethod of the robot is greatly improved. Thus, the cleaning efficiencyof the glass-wiping robot is improved with the same amount of time orpower. Certainly, if the frame of glass window in the present embodimentis a right-angle shape, the moving module 12 can directly turns an angleof 90 degree so as to fulfill a turning action of the robot at a cornerwhen the glass-wiping robot walks to the corner of the frame of glasswindow. If the frame of glass window or the walking area of the robot isof one of other irregular shapes, the spot-turning action of the robotcan still be fulfilled through adopting the technical solution of thepresent invention to enable the moving module 12 to turn a correspondingangle relative to the functional processing module 11. It is just neededto make a concrete determination about a specific turning angle with thecooperation of other auxiliary devices such as a sensor based on actualrequirements. Then a corresponding instruction is issued to fulfill thespecific action.

The Second Embodiment

FIGS. 3 and 4 are a sectional view and a partial enlarged view of a ballmechanism of the second embodiment of the present inventionrespectively. As shown in FIGS. 3 and 4, the present embodiment providesa floor-sweeping robot, and its functional processing module is afloor-sweeping module 11″. As shown in FIG. 3, in the presentembodiment, in order to facilitate a relative movement between thefunctional processing module and the moving module 12 as well as reducewear between the functional processing module and the moving module 12,the connection mechanism is an coupling unit comprising a first couplingend 123 provided at the edge of the moving module 12 and a secondcoupling end 113 provided at the edge of the floor-sweeping module 11″.The first coupling end 123 and the second coupling end 113 are insertedinto and positioned with each other, and a gap is remained between thecoupling positions thereof. Each of the first coupling end 123 and thesecond coupling end 113 includes upper and lower coupling joints. Astopping part 125 is provided perpendicularly to the coupling directionat the terminal of the lower coupling joint 1231 of the first couplingend 123 and the upper coupling joint 1131 of the second coupling end 113is provided with a stopping groove 115 correspondingly. The stoppingpart 125 is positioned in the stopping groove 115 in an embedded manner.

Referring to FIG. 4, since the connection manner adopted between thefunctional processing module 11 and the moving module 12 in the firstembodiment causes a direct friction between them, easily resulting inthe wear on one another. Thus, in order to enable the moving module torotate more flexibly relative to the functional processing module, aball 13 is provided at the central section of the upper coupling joint1131 of the second coupling end 113. The upper and lower end surfaces ofthe ball 13 protrude from upper and lower end surfaces of the uppercoupling joint 1131 of the second coupling end 113 and are brought intocontact with the lower surface of the upper coupling joint 1232 and theupper surface of the lower coupling joint 1231 of the first coupling end123, respectively. The friction between the floor-sweeping module 11″and the moving module 12 is further reduced through the rolling of theball 13 in the central section of the upper coupling joint 1131 of thesecond coupling end 113.

The Third Embodiment

FIGS. 5 and 6 are a sectional view and a partial enlarged view of aroller bearing mechanism of the third embodiment of the presentinvention respectively. As shown in FIGS. 5 and 6, in order tofacilitate the relative movement between the functional processingmodule 11 and the moving module 12 as well as reduce wear between thefunctional processing module 11 and the moving module 12, the connectionmechanism may also be a roller bearing mechanism provided between theouter edge of the moving module 12 and the inner edge of an opening hole111′ in the functional processing module. As shown in FIG. 6, the rollerbearing mechanism includes an inner ring 142 provided at the outer edgeof the moving module 12, an outer ring 141 provided at the inner edge ofthe opening hole 111′ in the functional processing module and balls 143between the inner and outer rings. By replacing the sliding frictionbetween the functional processing module 11 and the moving module 12with the rolling friction between the balls 143 and the inner ring 142and the rolling friction between the balls 143 and the outer ring 141,the friction between the functional processing module 11 and the movingmodule 12 is greatly reduced and the sensitivity of the robot isimproved.

The self-moving robot may comprise a variety of functional processingmodules 11 and different functional modules 11 take on different works.In addition to the glass-wiping robot and the floor-sweeping robotmentioned in the above embodiments, the functional processing module 11may be an air purification module, a humidification module and the like.

In conclusion, the self-moving robot according to the present inventionis of simple structure, low cost, high sensitivity, strongcontrollability and significantly improved moving mode. Accordingly, thecleaning efficiency of the self-moving robot is improved with the sameamount of time or power.

The invention claimed is:
 1. A self-moving robot comprises a robot body(1), a control device is provided in the robot body (1), the robot body(1) comprises a functional processing module (11) and a moving module(12) connected with each other, and the moving module (12) is controlledby the control device to drive the functional processing module (11) toconduct mobile processing work in a working space, characterized inthat, an opening hole (111, 111′) is formed inside the functionalprocessing module (11) so that the moving module (12) is arrangedrotatably in the opening hole (111, 111′) in an embedded manner, and themoving module (12) can freely rotate relative to the functionalprocessing module (11) through a connection mechanism, wherein theconnection mechanism is a coupling unit comprising a first coupling end(123) provided at an edge of the moving module (12) and a secondcoupling end (113) provided at an edge of the functional processingmodule (11), one of the first coupling end (123) and the second couplingend (113) is inserted into the other for mutual positioning, whereineach of the first coupling end (123) and the second coupling end (113)includes upper and lower coupling joints, wherein a stopping part (125)is provided perpendicularly to a coupling direction at a terminal end ofthe lower coupling joint of the first coupling end (123), the uppercoupling joint of the second coupling end (113) is provided with astopping groove (115) correspondingly, and the stopping part (125) ispositioned in the stopping groove (115) in an embedded manner.
 2. Theself-moving robot of claim 1, further including a ball (13) beingprovided at a central section of the upper coupling joint of the secondcoupling end (113), wherein upper and lower end surfaces of the ball(13) protrude from upper and lower end surfaces of the upper couplingjoint of the second coupling end (113) and are brought into contact witha lower surface of the upper coupling joint and an upper surface of thelower coupling joint of the first coupling end (123).
 3. The self-movingrobot of claim 1, characterized in that, the functional processingmodule (11) is a glass surface cleaning module (11′), a floor-sweepingmodule, an air purification module or a humidification module.
 4. Theself-moving robot of claim 1, characterized in that, the moving module(12) is provided with a suction device comprising a suction cup (116), agas-guide tube (117) and a vacuum pump (118), and the vacuum pump (118)is controlled by the control device to communicate with the suction cup(116) through the gas-guide tube (117) and to vacuumize the suction cup(116) to form negative pressure so as to enable the self-moving robot toadhere to a surface to be treated.
 5. The self-moving robot of claim 1,characterized in that, the opening hole (111, 111′) is a circularopening hole, and the periphery of the functional processing module (11)is a square shape.
 6. A walking method of the self-moving robot of claim1, the method comprising: step 1: the functional processing module ofthe self-moving robot is driven by the moving module to move so as towalk in a working space; step 2: if the self-moving robot detects thatthere is an obstacle in front of the movement, the self-moving robotcontinues to walk after the moving module turns a certain angle relativeto the functional processing module.
 7. The walking method of theself-moving robot of claim 6, characterized in that, in the step 2, thecertain angle is 90 degrees.
 8. A self-moving robot comprises a robotbody (1), a control device is provided in the robot body (1), the robotbody (1) comprises a functional processing module (11) and a movingmodule (12) connected with each other, and the moving module (12) iscontrolled by the control device to drive the functional processingmodule (11) to conduct mobile processing work in a working space,characterized in that, an opening hole (111, 111′) is formed inside thefunctional processing module (11) so that the moving module (12) isarranged rotatably in the opening hole (111, 111′) in an embeddedmanner, and the moving module (12) can freely rotate relative to thefunctional processing module (11) through a connection mechanism, andthe moving module (12) is provided with a walking mechanism (121) thatdrives the moving module (12) to walk or rotate, wherein the connectionmechanism is a coupling unit comprising a first coupling end (123)provided at an edge of the moving module (12) and a second coupling end(113) provided at an edge of the functional processing module (11), oneof the first coupling end (123) and the second coupling end (113) isinserted into the other for mutual positioning, wherein each of thefirst coupling end (123) and the second coupling end (113) includesupper and lower coupling joints, wherein a stopping part (125) isprovided perpendicularly to a coupling direction at a terminal end ofthe lower coupling joint of the first coupling end (123), the uppercoupling joint of the second coupling end (113) is provided with astopping groove (115) correspondingly, and the stopping part (125) ispositioned in the stopping groove (115) in an embedded manner.
 9. Theself-moving robot of claim 8, further including a ball (13) beingprovided at a central section of the upper coupling joint of the secondcoupling end (113), wherein upper and lower end surfaces of the ball(13) protrude from upper and lower end surfaces of the upper couplingjoint of the second coupling end (113) and are brought into contact witha lower surface of the upper coupling joint and an upper surface of thelower coupling joint of the first coupling end (123).
 10. Theself-moving robot of claim 8, characterized in that, the walkingmechanism (121) is one or more driving wheels and one or morecorresponding tracks provided on the robot body (1).
 11. The self-movingrobot of claim 8, characterized in that, the functional processingmodule (11) is a glass surface cleaning module (11′), a floor-sweepingmodule, an air purification module or a humidification module.
 12. Theself-moving robot of claim 8, characterized in that, the moving module(12) is provided with a suction device comprising a suction cup (116), agas-guide tube (117) and a vacuum pump (118), and the vacuum pump (118)is controlled by the control device to communicate with the suction cup(116) through the gas-guide tube (117) and to vacuumize the suction cup(116) to form negative pressure so as to enable the self-moving robot toadhere to a surface to be treated.
 13. The self-moving robot of claim 8,characterized in that, the opening hole (111, 111′) is a circularopening hole, and the periphery of the functional processing module (11)is a square shape.
 14. A walking method of the self-moving robot ofclaim 8, the method comprising: step 1: the functional processing moduleof the self-moving robot is driven by the moving module to move so as towalk in a working space; step 2: if the self-moving robot detects thatthere is an obstacle in front of the movement, the self-moving robotcontinues to walk after the moving module turns a certain angle relativeto the functional processing module.
 15. The walking method of theself-moving robot of claim 14, characterized in that, in the step 2, thecertain angle is 90 degrees.